Introduction This work describes an approach to finding objects in images based on deformable shape models. Boundary finding in two and three dimensional images is enhanced both by considering the bounding contour or surface as a whole and by using model-based shape information. Boundary finding using only local information has often been frustrated by poor-contrast boundary regions due to occluding and occluded objects, adverse viewing conditions and noise. Imperfect image data can be augmented with the extrinsic information that a geometric shape model provides. In order to exploit model-based information to the fullest extent, it should be incorporated explicitly, specifically, and early in the analysis. In addition, the bounding curve or surface can be profitably considered as a whole, rather than as curve or surface segments, because it tends to result in a more consistent solution overall. These models are best suited for objects whose diversity and irregularity of shape make

Probabilistic roadmap planners have been used with success to plan paths for flexible objects such as metallic plates or plastic flexible pipes. This paper improves the performance of these planners by using the medial axis of the workspace to guide the random sampling. At a preprocessing stage, the medial axis of the workspace is computed using a recent efficient algorithm. Then the flexible object is fitted at random points along the medial axis. The energy of all generated configurations is minimized and the planner proceeds to connect them with low-energy quasi-static paths in a roadmap that captures the connectivity of the free space. Given an initial and a final configuration, the planner connects these to the roadmap and searches the roadmap for a path. Our experimental results show that the new sampling scheme is successful in identifying critical deformations of the object along solution paths which results in a significant reduction of the computation time. Our work on planning for flexible objects has applications in industrial settings, virtual reality environments, and medicine.

This paper addresses the problem of planning paths for an elastic object from an initial to a final configuration in a static environment. It is assumed that the object is manipulated by two actuators and that it does not touch the obstacles in its environment at any time. The object may need to deform in order to achieve a collision-free path from the initial to the final configuration. Any required deformations are automatically computed by our planner according to the principles of elasticity theory from mechanics. The problem considered in this paper differs significantly from that of planning for a rigid or an articulated object. In the first part of the paper we point out these differences and highlight the reasons that make planning for elastic objects an extremely difficult task. We then present a randomized algorithm for computing collision-free paths for elastic objects under the above-mentioned restrictions of manipulation.

Methods for incorporating imprecision in engineering design decision-making are briefly reviewed and compared. A tutorial is presented on the Method of Imprecision (MoI), a formal method, based on the mathematics of fuzzy sets, for representing and manipulating imprecision in engineering design. The results of a design cost estimation example, utilizing a new informal cost specification, are presented. The MoI can provide formal information upon which to base decisions during preliminary engineering design and can facilitate set-based concurrent design.

Neural networks are composed of basic units somewhat analogous to neurons. These units are linked to each other by connections whose strength is modifiable as a result of a learning process or algorithm. Each of these units integrates independently (in parallel) the information provided by its synapses in order to evaluate its state of activation. The unit response is then a linear or nonlinear function of its activation. Linear algebra concepts are used, in general, to analyze linear units, with eigenvectors and eigenvalues being the core concepts involved. This analysis makes clear the strong similarity between linear neural networks and the general linear model developed by statisticians. The linear models presented here are the perceptron, and the linear associator. The behavior of nonlinear networks can be described within the framework of optimization and approximation techniques with dynamical systems (e.g., like those used to model spin glasses). One of the main notio...

We explore the combined effects of a climate threshold (a potential ocean thermohaline circulation collapse), parameter uncertainty, and learning in an optimal economic growth model. Our analysis shows that significantly reducing carbon dioxide ðCO2Þ emissions may be justified to avoid or delay even small (and arguably realistic) damages from an uncertain and irreversible climate change—even when future learning about the system is considered. Parameter uncertainty about the threshold specific damages and the CO2 level triggering a threshold can act to decrease near-term CO2 abatements that maximize expected utility.

In recent years an effort has been made to supplement traditional methods for drug discovery by computer-assisted “structure-based design.” The structure-based approach involves (among other issues) reasoning about the geometry of drug molecules (or ligands) and about the different spatial conformations that these molecules can attain. This is a preliminary report on a set of tools that we are devising to assist the chemist in the drug design process. We describe our work on the following three topics: (i) geometric data structures for representing and manipulating molecules; (ii) conformational analysis—searching for lowenergy conformations; and (iii) pharmacophore identification—searching for common features among different ligands that exhibit similar activity.

An important problem in computer vision is the determination of weights for multiple objective function optimization. This problem arises naturally in many reconstruction problems, where one wishes to reconstruct a function belonging to a constrained class of signals based upon noisy observed data. A common approach is to combine the objective functions into a single total cost function. The problem then is to determine appropriate weights for the objective functions. In this paper we propose techniques for automatically determining the weights, and discuss their properties. The Min{Max Principle, which avoids the problems of extremely low or high weights, is introduced. Expressions are derived relating the optimal weights, objective function values, and total cost. 1

iii This document and the work it represents was impossible without the support of my wife Ginger. Often one needs non-technical advice to make clear what one is contemplating. Also one always needs a financial supporter. My thesis advisor Erik Antonsson helped focus many of my thoughts. In addition to providing me with technical assistance, he as well provided instruction on the process of conducting academic research, the communication of ideas both orally and written, and the approach to a developing field. I also owe much to my colleagues in the Engineering and Applied Science Division at Caltech. Their comments and advice maintained my comprehension and rigor. Andrew Lewis in particular provided me with invaluable support. Many of the technical proofs were impossible without him. This material and the work it represented were made possible, in part, by a fellowship from the AT&T-Bell Laboratories Ph.D. scholar program, sponsored by the AT&T foundation. Also, the National Science Foundation provided funding under a Presidential Young

The rational approach to pharmaceutical drug design begins with an investigation of the relationship between chemical structure and biological activity. Information gained from this analysis is used to aid the design of new, or improved, drugs. Primary considerations during this investigation are the geometric and chemical characteristics of the molecules.